Download CANopen - Copley Controls

Xenus
PLUS
 
2-Axis CANopen
Rev 01
XP2
RoHS
general specifications
Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25° C. Power input = 230 Vac, 60 Hz, 1 Ø
MODEL
XP2-230-20
Output CURRENT (each axis)
Peak Current
20 (14)
Adc (Arms, sinusoidal)
Peak time
1
s
Continuous current (Note 1)
10 (7)
Adc (Arms, sinusoidal)
INPUT POWER
Mains voltage, phase, frequency
100~240
Vac, ±10%, 1 Ø or 3 Ø, 47~63 Hz
Mains current
20
Arms
+24 Vdc Control power
+20 to +32 Vdc, 500 mA max
Required for operation
DIGITAL CONTROL
Digital Control Loops
Current, velocity, position. 100% digital loop control
Sampling rate (time)
Current loop: 16 kHz (62.5 µs), Velocity & position loops: 4 kHz (250 µs)
Bus voltage compensation
Changes in bus or mains voltage do not affect bandwidth
Minimum load inductance
200 µH line-line
command inputs (Note: Digital input functions are programmable)
Distributed Control Modes
CANopen
Position, Velocity, Torque (Profile & Interpolated modes), Homing
Stand-alone mode
Analog torque, velocity, position reference
±10 Vdc, 14 bit resolutionDedicated differential analog input
Digital position reference
Pulse/Direction, CW/CCW
Stepper commands (2 MHz maximum rate)
Quad A/B Encoder
2 M line/sec, 8 Mcount/sec (after quadrature)
Digital torque & velocity reference
PWM , Polarity
PWM = 0% - 100%, Polarity = 1/0
PWM 50%
PWM = 50% ±50%, no polarity signal required
PWM frequency range
1 kHz minimum, 100 kHz maximum
PWM minimum pulse width
220 ns
IndexingUp to 32 sequences can be launched from inputs or ASCII commands.
CammingUp to 10 CAM tables can be stored in flash memory
ASCII
RS-232, 9600~115,200 Baud, 3-wire, RJ-12 connector
DIGITAL inputs
Number22
[IN1,11]Digital, Schmitt trigger, 1 µs RC filter, 24 Vdc compatible, programmable pull-up/down to +5 Vdc/ground,
Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
[IN21, 22]
Same specs as IN1 & IN11, but with fixed pull-up to +5 Vdc
[IN2~5,12~15]
Programmable as single-ended or differential pairs, 100 ns RC filter, 12 Vdc max,
10 kΩ programmable pull-up/down per input to +5 Vdc/ground,
SE: Vin-LO ≤ 2.3 Vdc, Vin-HI ≥ 2.7 Vdc, VH = 45 mV typ, DIFF: Vin-LO ≤ 200 mVdc, Vin-HI ≥ 200 mVdc, VH = 45 mV typ,
[IN6~9,16~19]
Opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, 2 groups of 4 with common return for each group
Rated impulse ≥ 800 V, Vin-LO ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 mA @ ±24 Vdc, typical
[IN10,20]
Motor overtemp signals on feedback connectors, , Schmitt trigger, 24 Vdc compatible
330 µs RC filter, 4.99k pullup to +5 Vdc, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
analog inputs
Number
4
[AIN1~2]Differential, ±10 Vdc, 5 kW input impedance, 14-bit resolution
[AIN3~4]
Single-ended, motor temperature sensor, 4.99 kW pulled-up to +5 Vdc, 12-bit resolution
safe torque off (sto)
Function
PWM outputs are inactive and current to the motor will not be possible when the STO function is asserted
Standard
Designed to IEC-61508-1, IEC-61508-2, IEC-61800-5-2, ISO-13849-1
Safety Integrity Level
SIL 3, Category 3, Performance level d
Inputs
2 two-terminal: STO-IN1+,STO-IN1-, STO-IN2+, STO-IN2Type
Opto-isolators, 24V compatible, Vin-LO ≤ 6.0 Vdc or open, Vin-HI ≥ 15.0 Vdc,
Input current (typical) STO-IN1: 9.0 mA, STO-IN2: 4.5 mA
Response time
2 ms from Vin ≤6.0 Vdc to interruption of energy supplied to motor
Reference
Complete information and specifications are in the Xenus Plus 2-Axis STO Manual
digital outputs
Number
[OUT1~5]
[OUT6~7]
RS-232 PORT
Signals
Mode
Protocol
CAN PORT
Signals
Format
Data
Address selection
status indicator LEDs
Drive Status
CAN Status
5V output
Number
Ratings (each)
7
Opto-isolated Darlingtons, 20 mA max, 24 V tolerant, collector & emitter connections
Motor brake control: opto-isolated, current-sinking with flyback diode to +24 Vdc, 1 Adc max
RxD, TxD, Gnd in 6-position, 4-contact RJ-12 style modular connector
Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Binary and ASCII formats
CANH, CANL, Gnd in 8-position dual RJ-45 style modular connector, wired as per CAN Cia DR-303-1, V1.1
CAN V2.0b physical layer for high-speed connections compliant
CANopen Device Profile DSP-402
16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to flash memory (7-bit addressing, 127 nodes per CAN network)
Bicolor LED, drive status indicated by color, and blinking or non-blinking condition
Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specification 303-3
4, two on the feedback connectors (J10, J11), two on the control connector (J12) for the A and B multi-mode ports
+5 Vdc @ 500 mA, thermal and overload protected
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-<tbd> Rev 00 September 23, 2015 Tel: 781-828-8090
Fax: 781-828-6547
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